THE Queen has lead tributes from the UK to former South Africa president Nelson Mandela, who died last night aged 95.

"The Queen was deeply saddened to learn of the death of Nelson Mandela last night. He worked tirelessly for the good of his country, and his legacy is the peaceful South Africa we see today.

Statement from Buckingham Palace

Prince Charles, Prince William, former Prime Minster Tony Blair and current PM David Cameron have also paid their respects to the anti-apartheid hero.

A statement from Buckingham Palace said: "The Queen was deeply saddened to learn of the death of Nelson Mandela last night. He worked tirelessly for the good of his country, and his legacy is the peaceful South Africa we see today.

"Her Majesty remembers with great warmth her meetings with Mr Mandela and sends her sincere condolences to his family and the people of South Africa at this very sad time."

Prince Charles said Mr Mandela was "the embodiment of courage and reconciliation".

He added: "He was also a man of great humour and had a real zest for life.

"With his passing, there will be an immense void not only in his family's lives, but also in those of all South Africans and the many others whose lives have been changed through his fight for peace, justice and freedom.

"The world has lost an inspired leader and a great man. My family and I are profoundly saddened and our thoughts and prayers are with his family."

Prince William paid tribute to Nelson Mandela after the premier of the South African's biopic [BBC]

Prince William, along with his wife the Duchess of Cambridge, was attending the film premier of Mandela: Long Walk to Freedom when the news of the South African's death broke.

Speaking after the screening, he said: "It was extremely sad and tragic news," he said.

"We were just reminded of what an extraordinary and inspiring man Nelson Mandela was and my thoughts and prayers are with him and his family right now."

Flowers and a framed picture of Mr Mandela were laid at the base of his statue in London's Parliament Square in the early hours.

One tribute on a card read: "Thank you for the sacrifices you made for all of us."

Westminster Abbey will hold a national service of thanksgiving for the life of Mr Mandela after the state funeral in South Africa. A book of condolence was also opened at St Margaret's Church at the Abbey.

Tony Blair, Nelson Mandela and Bill Clinton in 2003 [PA]

MPs will be able to pay their tributes to Mr Mandela in the House of Commons on Monday, Speaker John Bercow confirmed.

Mr Blair told BBC Radio 4's Today programme that Mr Mandela had a good relationship with Britain, despite the opposition to him from parts of the establishment.

"I think he had a tremendous affection for Britain, he admired it as a country, he liked the people and I know he always used to enjoy coming."

The former prime minister added: "He came to represent something that was much more than just about the resolution of the issues of apartheid and of South Africa, he came to represent something quite inspirational for the future of the world and for peace and reconciliation in the 21st century."

The flag at No 10 will be flown at half-mast in honour of the former leader, who was a "hero of our time", David Cameron announced.

He hailed Mr Mandela's "extraordinary generosity of spirit" and "extraordinary forgiveness", describing him as an "inspiration for the future".

He was the first to sign a book of condolence at South Africa House in London, and afterwards said his thoughts were of "extraordinary sadness at the passing of such a heroic figure".

"He lived this extraordinary life of belief in this simple principle - fighting discrimination," he said.

Recalling his own personal memories of Mr Mandela, he said he remembers a man "who had a wonderful sense of humour".

He said his abiding memory of Mr Mandela is seeing him in Johannesburg and hearing him talk about what he had suffered, and yet his "complete forgiveness, his total lack of malice towards those who'd done this to him".

Mr Cameron said he was also struck by the fact that after leaving power Mr Mandela still cared so deeply about the issues - such as Aids and HIV - that were affecting his country.

He said Mr Mandela had a sense of forgiveness, which he said is something we all need to learn and try to live by.

Princess Anne also signed the book of condolence.

David Cameron was the first to sign a book of condolence in South Africa House [GETTY]

Princess Anne arriving to sign a book of condolence at South Africa House in London [Stephen Lock / i-Images]

Former prime minister Sir John Major said Mr Mandela "left an indelible mark on his time that few have ever equalled".

Hillary Clinton, former US secretary of state, said Mr Mandela was "a champion for justice and human dignity, with unmatched grace".

Flags are flying at half-mast across Scotland, including at the Scottish Parliament and in Glasgow, the first city in the world to grant him Freedom of the City.

The award was bestowed upon Mr Mandela in 1981 while he was imprisoned on Robben Island.

Tributes were also paid by the the Australia and England cricket teams.

Before the start of play in the second Ashes Test in Adelaide the players observed a minute silence, and they also wore black armbands.